Abstract
It is expected that the humanoid robots of the near future will ‘live’ and work in a common environment with humans. This imposes the requirement that their operational efficiency ought to be close to that of men. The main prerequisite to achieve this is to ensure the robot’s efficient motion that is its ability to compensate for the ever-present disturbances. The work considers the strategies of how to compensate for the disturbances of different intensities: small which are permanently present and large that jeopardize the robot’s dynamic balance instantly. It was illustrated that those two classes of disturbances require quite different compensation approaches.
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Notes
- 1.
Its intensity depends on the momentum applied to the body and humanoid’s mass.
- 2.
The ZMP position when the compensating action is ended coincides with the CM position. Hence, it is important that the ZMP position to which the system returns (denoted here as the reference one) is defined so as to minimize the deviation of the actual CM position from its position prior to the action of the disturbance. This can be done in the form of the PID regulator in the following way:
\( {}^{\text{ref}}{\text{ZMP}}_{X}^{{t_{i} }} = K_{\text{pcz}}\Delta {\text{CM}}_{X}^{{t_{i} }} + K_{\text{icz}} \sum\limits_{j = 1}^{i} {\Delta {\text{CM}}_{X}^{{t_{j} }} } + K_{\text{dcz}} \left( {\Delta {\text{CM}}_{X}^{{t_{i} }} -\Delta {\text{CM}}_{X}^{{t_{i - 1} }} } \right) \)
Expression (13.39) is obtained by subtracting the above expression, written for the time instant \( t_{i - 1} \), from the expression written for the time instant \( t_{i} \).
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Acknowledgements
This work was in part supported by the Ministry of Science and Technological Development of the Republic of Serbia under contract III44008, and in part by the Autonomous Province of Vojvodina, Provincial Secretariat for Science and Technological Development, Serbia, under contract 114-451-2116/2011-03.
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Vukobratović, M., Borovac, B., Raković, M., Nikolić, M. (2016). How to Cope with Disturbances in Biped Locomotion?. In: Dimirovski, G. (eds) Complex Systems. Studies in Systems, Decision and Control, vol 55. Springer, Cham. https://doi.org/10.1007/978-3-319-28860-4_13
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